A vehicle door system includes a vehicle door and electrically-powered linear and rotary actuators. The vehicle door system also includes a pinch sensor. Upon receiving an open door command, a controller actuates the linear actuator and then actuates the rotary actuator to open the door. The controller also actuates the linear actuator to prevent closing of the door if the pinch-sensor detects an object in a door opening. The controller actuates the rotary actuator to close the door upon receiving a close door command.